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A Mathematical Introduction to Robotic Manipulation

by Richard M. Murray, Zexiang Li, S. Shankar Sastry , 1994
"... ..."
Abstract - Cited by 1002 (53 self) - Add to MetaCart
Abstract not found

The Anatomy of the Grid - Enabling Scalable Virtual Organizations

by Ian Foster, Carl Kesselman, Steven Tuecke - International Journal of Supercomputer Applications , 2001
"... "Grid" computing has emerged as an important new field, distinguished from conventional distributed computing by its focus on large-scale resource sharing, innovative applications, and, in some cases, high-performance orientation. In this article, we define this new field. First, we review ..."
Abstract - Cited by 2638 (87 self) - Add to MetaCart
review the "Grid problem," which we define as flexible, secure, coordinated resource sharing among dynamic collections of individuals, institutions, and resources---what we refer to as virtual organizations. In such settings, we encounter unique authentication, authorization, resource access

Maté: A Tiny Virtual Machine for Sensor Networks

by Philip Levis, David Culler , 2002
"... Composed of tens of thousands of tiny devices with very limited resources ("motes"), sensor networks are subject to novel systems problems and constraints. The large number of motes in a sensor network means that there will often be some failing nodes; networks must be easy to repopu-late. ..."
Abstract - Cited by 502 (21 self) - Add to MetaCart
of virtual ma-chines to provide the user/kernel boundary on motes that have no hardware protection mechanisms.

Live Migration of Virtual Machines

by Christopher Clark, Keir Fraser, Steven H, Jakob Gorm Hansen, Eric Jul, Christian Limpach, Ian Pratt, Andrew Warfield - In Proceedings of the 2nd ACM/USENIX Symposium on Networked Systems Design and Implementation (NSDI , 2005
"... Migrating operating system instances across distinct physical hosts is a useful tool for administrators of data centers and clusters: It allows a clean separation between hardware and software, and facilitates fault management, load balancing, and low-level system maintenance. By carrying out the ma ..."
Abstract - Cited by 613 (14 self) - Add to MetaCart
Migrating operating system instances across distinct physical hosts is a useful tool for administrators of data centers and clusters: It allows a clean separation between hardware and software, and facilitates fault management, load balancing, and low-level system maintenance. By carrying out the majority of migration while OSes continue to run, we achieve impressive performance with minimal service downtimes; we demonstrate the migration of entire OS instances on a commodity cluster, recording service downtimes as low as 60ms. We show that that our performance is sufficient to make live migration a practical tool even for servers running interactive loads. In this paper we consider the design options for migrating OSes running services with liveness constraints, focusing on data center and cluster environments. We introduce and analyze the concept of writable working set, and present the design, implementation and evaluation of highperformance OS migration built on top of the Xen VMM. 1

Virtual Time and Global States of Distributed Systems

by Friedemann Mattern - PARALLEL AND DISTRIBUTED ALGORITHMS , 1988
"... A distributed system can be characterized by the fact that the global state is distributed and that a common time base does not exist. However, the notion of time is an important concept in every day life of our decentralized "real world" and helps to solve problems like getting a consiste ..."
Abstract - Cited by 741 (6 self) - Add to MetaCart
orderedand form a lattice. By using timestamps and a simple clock update mechanism the structure of causality is represented in an isomorphic way. The new model of time has a close analogy to Minkowski's relativistic spacetime and leads among others to an interesting characterization of the global

Defining Virtual Reality: Dimensions Determining Telepresence

by Jonathan Steuer - JOURNAL OF COMMUNICATION , 1992
"... Virtual reality (VR) is typically defined in terms of technological hardware. This paper attempts to cast a new, variable-based definition of virtual reality that can be used to classify virtual reality in relation to other media. The defintion of virtual reality is based on concepts of "presen ..."
Abstract - Cited by 534 (0 self) - Add to MetaCart
Virtual reality (VR) is typically defined in terms of technological hardware. This paper attempts to cast a new, variable-based definition of virtual reality that can be used to classify virtual reality in relation to other media. The defintion of virtual reality is based on concepts of "

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, Int. Jour of Robotic Research

by Oussama Khatib , 1986
"... This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al- ..."
Abstract - Cited by 1329 (28 self) - Add to MetaCart
-lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator

Statistical mechanics of complex networks

by Réka Albert, Albert-lászló Barabási - Rev. Mod. Phys
"... Complex networks describe a wide range of systems in nature and society, much quoted examples including the cell, a network of chemicals linked by chemical reactions, or the Internet, a network of routers and computers connected by physical links. While traditionally these systems were modeled as ra ..."
Abstract - Cited by 2083 (10 self) - Add to MetaCart
Complex networks describe a wide range of systems in nature and society, much quoted examples including the cell, a network of chemicals linked by chemical reactions, or the Internet, a network of routers and computers connected by physical links. While traditionally these systems were modeled as random graphs, it is increasingly recognized that the topology and evolution of real

Nested Transactions: An Approach to Reliable Distributed Computing

by J. Eliot B. Moss , 1981
"... Distributed computing systems are being built and used more and more frequently. This distributod computing revolution makes the reliability of distributed systems an important concern. It is fairly well-understood how to connect hardware so that most components can continue to work when others are ..."
Abstract - Cited by 527 (1 self) - Add to MetaCart
Distributed computing systems are being built and used more and more frequently. This distributod computing revolution makes the reliability of distributed systems an important concern. It is fairly well-understood how to connect hardware so that most components can continue to work when others are broken, and thus increase the reliability of a system as a whole. This report addressos the issue of providing software for reliable distributed systems. In particular, we examine how to program a system so that the software continues to work in tho face of a variety of failures of parts of the system. The design presented

The process group approach to reliable distributed computing

by Kenneth P. Birman - Communications of the ACM , 1993
"... The difficulty of developing reliable distributed softwme is an impediment to applying distributed computing technology in many settings. Expeti _ with the Isis system suggests that a structured approach based on virtually synchronous _ groups yields systems that are substantially easier to develop, ..."
Abstract - Cited by 573 (19 self) - Add to MetaCart
The difficulty of developing reliable distributed softwme is an impediment to applying distributed computing technology in many settings. Expeti _ with the Isis system suggests that a structured approach based on virtually synchronous _ groups yields systems that are substantially easier to develop
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